CN104985587A - Four-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving and provided with arc moving pairs - Google Patents
Four-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving and provided with arc moving pairs Download PDFInfo
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- CN104985587A CN104985587A CN201510387538.7A CN201510387538A CN104985587A CN 104985587 A CN104985587 A CN 104985587A CN 201510387538 A CN201510387538 A CN 201510387538A CN 104985587 A CN104985587 A CN 104985587A
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Abstract
A four-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving and provided with arc moving pairs comprises a moving platform, a base and three branch chains. One end of each branch chain is movably connected with the base, and the other end of each branch chain is connected with the moving platform in a rotating mode. Moreover, at least two branch chains are movably connected with the base in a two-dimensional mode, and each of the three branch chains comprises a linear moving pair and one arc moving pair or a linear connection rod and one arc moving pair which are sequentially connected in series, so that the moving platform moves in a two-dimensional mode or spherically rotates around a fixed point O in a three-freedom-degree mode. The three-dimensional rotation characteristic of the moving platform is only related to driving of the arc moving pairs, the two-dimensional moving characteristic of the point O is only related to driving of the moving pair P1, and the rotating characteristic and the moving characteristic of the moving platform have the advantage of complete decoupling.
Description
Technical field
What the present invention relates to is the technology of a kind of robot field, and specifically a kind of have one of arc moving sets and move three rotations (1T3R) four-degree-of-freedom and rotate mobile full decoupled parallel institution.
Background technology
Parallel institution usually to be connect by many side chains by moving platform and fixed platform and forms, comparatively serial mechanism, the advantage such as have compact conformation, rigidity, bearing capacity is strong, accumulated error is little, therefore obtains widely in practical implementation.
Existing most of four-freedom parallel mechanism does not have decoupling zero feature, controls comparatively complicated, more difficultly meets practical implementation requirement; Current most of four-freedom parallel mechanism all has 5 chains, and this not only limit the working space of moving platform, and increases material, makes structure more complicated.The feature of existing most of four-freedom parallel mechanism is not decoupling mechanism, which increases control difficulty.
Through finding the retrieval of prior art, Chinese patent literature CN101716764A, open (bulletin) day, 2010.06.02, disclose a kind of four-degree-of-freedom redundance driving hybrid mechanism being applicable to vibration damping, this mechanism is by fixed platform, and halfpace, moving platform, six active branched chain and a passive side chain are formed.Halfpace is connected with fixed platform by the branch that three structures are identical, secondary as driving containing a tilted-putted telescopic rod be fixed on fixed platform in each branch, the other end of drive rod is connected with a connecting-rods with constant lengh by universal hinge, and connecting-rods with constant lengh is connected with halfpace by another universal hinge, and the interior axis of two universal hinges and outer axis are parallel to each other respectively; Be connected by three structure same branches between halfpace with moving platform, one is contained as driving secondary extensible link in each branch, and the universal hinge in connecting rod one end is connected with halfpace, and the other end is connected with moving platform by ball pivot; Moving platform is connected by the passive side chain containing a universal hinge with the center of halfpace.But this technology is redundant drive, require that drive motors is more than the platform free degree, and structure is comparatively complicated, is not easy to control.
Summary of the invention
The present invention is directed to prior art above shortcomings, propose a kind of four-degree-of-freedom with arc moving sets and rotate mobile full decoupled parallel institution, the rotation feature of its moving platform and moving characteristic have and rotate mobile full decoupled feature, and it is few that the present invention has side chain, structure is simple, be easy to assembling, mechanism performance is high, is easy to control.
The present invention is achieved by the following technical solutions:
The present invention includes: comprising: moving platform, pedestal and three side chains, wherein: one end of side chain is all connected with base runner, the other end and moving platform are rotationally connected, and at least two side chains are connected with pedestal two-dimensional active, three described side chains are the rectilinear movement pair and arc moving sets or straight connecting rod and arc moving sets of connecting successively, make moving platform make two-dimensional movement or make spherical three-degree-of-freedom around fixing point O to rotate.
Described flexible connection refers to:
A) two side chains are connected with pedestal two-dimensional active, and a side chain is flexibly connected with pedestal one dimension, or
B) three side chains are all connected with pedestal two-dimensional active.
The two ends of described arc moving sets are rotationally connected formation revolute pair with moving platform and the secondary one end that moves linearly respectively, and the rectilinear movement other end that is secondary or straight connecting rod is connected with pedestal two-dimensional active.
Described side chain is all by revolute pair or the secondary driving of rectilinear movement.
Technique effect
Compared with prior art, the present invention significantly reduces the quantity of side chain, simple and compact for structure, and easily, good rigidity, mechanism kinematic is flexible, and rotation feature and the moving characteristic of moving platform are full decoupled in assembling.
Accompanying drawing explanation
Fig. 1 is embodiment 1 structure chart;
Fig. 2 is embodiment 2 structure chart;
In figure: 1 be pedestal, 2,3 be straight connecting rod, 4,5 be bow, 6 for moving platform, L1 ~ L3 be side chain, PR is arc moving sets, P1 ~ P3 is for rectilinear movement is secondary, R11 ~ R31 is revolute pair.
Detailed description of the invention
Elaborate to embodiments of the invention below, the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment 1
As shown in Figure 1, the present embodiment comprises: moving platform 6, pedestal 1 and three side chain L1 ~ L3, wherein: one end of side chain L1 ~ L3 is all flexibly connected with pedestal 1, the other end and moving platform 6 are rotationally connected, and make moving platform 6 make two-dimensional movement or make spherical three-degree-of-freedom around fixing point O to rotate.
In the present embodiment, three side chains are all connected with pedestal two-dimensional active, these three side chains include: the arc moving sets PR connected successively and straight connecting rod 3, wherein: the two ends of arc moving sets PR are rotationally connected with one end of moving platform 6 and straight connecting rod 3 respectively and form revolute pair R11/R21/R31 and R12/R22/R32, and the other end of straight connecting rod 3 is flexibly connected with pedestal 1.
Described arc moving sets PR and straight connecting rod 3 are rotationally connected the axis of the revolute pair R11/R21/R31 of formation and the dead in line of straight connecting rod 3, the axis of the revolute pair on each side chain all intersects at a point O, and the motion center of circle of 6 revolute pairs namely on three side chain L1 ~ L3 converges at a bit.
Described arc moving sets PR comprises the arc lower bar 4 and upper bow 5 that are mutually slidably connected.
Described side chain L1 ~ L3 is all by arc moving sets or the secondary driving of rectilinear movement.
Described pedestal 1 is provided with three pairs of moving sets combinations, and the combination of this moving sets is connected with one end of side chain L1 ~ L3 thus realizes being flexibly connected.
Described moving sets combination is made up of the moving sets that two are vertically connected.
In this device, the Three dimensional rotation feature of described moving platform only drives relevant with arc moving sets PR, and drives irrelevant with moving sets P1; The two-dimensional movement feature of some O only drives relevant with moving sets P1, and drives irrelevant with arc moving sets PR; The rotation feature of moving platform and moving characteristic have full decoupled advantage.
Embodiment 2
As shown in Figure 2, the present embodiment is compared with embodiment 1, and two in three side chains are connected with pedestal two-dimensional active, and a side chain is flexibly connected with pedestal one dimension.
Described one dimension is flexibly connected, and realized by the moving sets be arranged on pedestal 1, this moving sets is connected with described side chain.
The technique effect that the present embodiment has compares embodiment 1: embodiment 1 can make the one-dimensional movement of horizontal direction and the Three dimensional rotation around O point; And embodiment 2 can realize vertical direction one-dimensional movement and around O point Three dimensional rotation.
Claims (7)
1. a four-degree-of-freedom with arc moving sets rotates mobile full decoupled parallel institution, it is characterized in that, comprise: moving platform, pedestal and three side chains, wherein: one end of side chain is all connected with base runner, the other end and moving platform are rotationally connected, and at least two side chains are connected with pedestal two-dimensional active, three described side chains are the rectilinear movement pair and arc moving sets or straight connecting rod and arc moving sets of connecting successively, make moving platform make two-dimensional movement or make spherical three-degree-of-freedom around fixing point O to rotate.
2. four-degree-of-freedom according to claim 1 rotates mobile full decoupled parallel institution, it is characterized in that, the two ends of described arc moving sets are rotationally connected formation revolute pair with moving platform and the secondary one end that moves linearly respectively, and the rectilinear movement other end that is secondary or straight connecting rod is connected with pedestal two-dimensional active.
3. four-degree-of-freedom according to claim 2 rotates mobile full decoupled parallel institution, it is characterized in that, described side chain is all by revolute pair or the secondary driving of rectilinear movement.
4. the four-degree-of-freedom according to claim 1 or 2 or 3 rotates mobile full decoupled parallel institution, and it is characterized in that, described arc moving sets comprises the arc lower bar and upper bow that are mutually slidably connected.
5. the four-degree-of-freedom according to above-mentioned arbitrary claim rotates mobile full decoupled parallel institution, it is characterized in that, described two-dimensional active connection refers to:
A) two side chains are connected with pedestal two-dimensional active, and a side chain is flexibly connected with pedestal one dimension, or
B) three side chains are all connected with pedestal two-dimensional active.
6. four-degree-of-freedom according to claim 5 rotates mobile full decoupled parallel institution, it is characterized in that, described two-dimensional active connects, and is realized by moving sets combination, and the combination of this moving sets is made up of the moving sets that two are vertically connected.
7. four-degree-of-freedom according to claim 2 rotates mobile full decoupled parallel institution, it is characterized in that, the axis that be rotationally connected the revolute pair of formation of described arc moving sets with move linearly secondary or straight connecting rod and the dead in line of move linearly secondary or straight connecting rod, the axis of the revolute pair on each side chain all intersects at a point O, and the axis of 6 revolute pairs namely on three side chains converges at a bit.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105538296A (en) * | 2016-02-03 | 2016-05-04 | 中北大学 | Reconfigurable spherical parallel robot |
| WO2018223363A1 (en) * | 2017-06-09 | 2018-12-13 | 深圳先进技术研究院 | Three-degrees-of-freedom decoupled spherical parallel mechanism |
| CN110405727A (en) * | 2018-04-26 | 2019-11-05 | 天津职业技术师范大学 | A kind of 3DOF parallel institution |
| US11458614B2 (en) * | 2017-06-09 | 2022-10-04 | Shenzhen Institutes Of Advanced Technology | 2 degree-of-freedoms decoupling parallel mechanism |
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| US20030121351A1 (en) * | 2001-05-31 | 2003-07-03 | Clement Gosselin | Cartesian parallel manipulators |
| CN101259617A (en) * | 2008-03-31 | 2008-09-10 | 浙江理工大学 | Fork four-freedom parallel connection robot mechanism |
| CN102431027A (en) * | 2011-10-30 | 2012-05-02 | 燕山大学 | Parallel robot mechanism with spatial three degrees of freedom and complete movement decoupling effect |
| EP2679349A1 (en) * | 2012-06-28 | 2014-01-01 | University College Cork | Compliant parallel manipulator system |
| CN104029197A (en) * | 2014-06-26 | 2014-09-10 | 山东大学（威海） | Vector propulsion mechanism of underwater robot |
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2015
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030121351A1 (en) * | 2001-05-31 | 2003-07-03 | Clement Gosselin | Cartesian parallel manipulators |
| CN101259617A (en) * | 2008-03-31 | 2008-09-10 | 浙江理工大学 | Fork four-freedom parallel connection robot mechanism |
| CN102431027A (en) * | 2011-10-30 | 2012-05-02 | 燕山大学 | Parallel robot mechanism with spatial three degrees of freedom and complete movement decoupling effect |
| EP2679349A1 (en) * | 2012-06-28 | 2014-01-01 | University College Cork | Compliant parallel manipulator system |
| CN104029197A (en) * | 2014-06-26 | 2014-09-10 | 山东大学（威海） | Vector propulsion mechanism of underwater robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105538296A (en) * | 2016-02-03 | 2016-05-04 | 中北大学 | Reconfigurable spherical parallel robot |
| WO2018223363A1 (en) * | 2017-06-09 | 2018-12-13 | 深圳先进技术研究院 | Three-degrees-of-freedom decoupled spherical parallel mechanism |
| US11331791B2 (en) | 2017-06-09 | 2022-05-17 | Shenzhen Institute Of Advanced Technology | 3 degree-of-freedoms decoupling spherical parallel mechanism |
| US11458614B2 (en) * | 2017-06-09 | 2022-10-04 | Shenzhen Institutes Of Advanced Technology | 2 degree-of-freedoms decoupling parallel mechanism |
| CN110405727A (en) * | 2018-04-26 | 2019-11-05 | 天津职业技术师范大学 | A kind of 3DOF parallel institution |
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| CN104985587B (en) | 2017-03-08 |
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